JP3932391B2 - Opening and closing chuck - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a chuck that is attached to an arm or the like of an industrial robot and is used for gripping and transporting an object such as a workpiece. More specifically, the opening and closing that can adjust the open width of a gripping member of the chuck. It concerns the chuck.
[0002]
[Prior art]
Conventionally, as a chuck used for gripping and transporting an object such as a workpiece, a pair of gripping members for gripping the object are assembled to the chuck body so as to be openable and closable. A chuck that is opened and closed by an air-driven piston disposed in a cylinder hole is known.
In this type of chuck, when gripping an object that is sufficiently smaller than the opening width of the gripping member, the gripping member is released until the gripping member is released up to the opening limit of the gripping member and the outer end surface of the target is sandwiched again. In this case, not only is the pressure fluid for operating the chuck waste, but also an unnecessary operation takes time and the processing time is unnecessarily prolonged. In addition, since the gripping member operates in an unnecessarily large space, consideration for avoiding interference with adjacent devices is also necessary.
[0003]
[Problems to be solved by the invention]
The technical problem of the present invention is to make it possible to variably set the opening width of the gripping member of the chuck in accordance with the size of the object and the like, thereby reducing waste of pressure fluid and operation time.
Another technical problem of the present invention is to enable the opening width of the gripping member to be adjusted by simple means.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, an open / close chuck of the present invention is assembled to a chuck mechanism, a cylinder mechanism having a cylinder hole provided in the chuck body and a piston driven in the axial direction in the cylinder hole, A plurality of gripping members that open and close by the operation of the cylinder mechanism, and the cylinder mechanism includes adjusting means for adjusting a stroke length of the piston to limit an opening width of the gripping member. A cap is attached to the lead-out portion of the adjustment member, and a lever that converts the operation of the rod into an opening / closing operation of the gripping member is disposed in the recess of the chuck body, and the tip of the lever is led out. closing the guide block except Rushirubeana, into the cap and the chuck body recess, that is provided with a discharge passage for discharging the generated dust It is an feature.
[0005]
The open / close chuck having the above-described configuration is configured to perform gripping operation of an object by moving a gripping member by pneumatically driving a piston in a cylinder hole of a chuck body. Since the adjusting stroke means can adjust the stroke length of the piston to limit the opening width of the gripping member, the opening width of the gripping member is set according to the size of the object, The pressure fluid and operation time from the open state to the grasping state can be minimized. In addition, since the gripping member does not open more than necessary due to the setting of the opening width, it is easy to avoid interference with the adjacent device during gripping operation. A stable gripping operation can be performed without touching or scratching.
[0006]
In the present invention, an opening / closing mechanism is provided between the gripping member and the piston to cause the gripping member to open by the downward movement of the piston, and the adjusting means variably limits the downward movement end of the piston. More specifically, a screw rod that is adjustably screwed into an end member that fluidly closes one end side of the cylinder hole and reaches the piston, and a tip of the screw rod And a hollow portion formed in the piston and slidably accommodated in the axial direction by a predetermined length, and the stopper member is engaged with the piston in the hollow portion. Thus, the downward movement of the piston can be limited.
In this case, it is possible to easily set the opening width of the gripping member with a relatively simple configuration.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows an embodiment of an opening / closing chuck according to the present invention. The opening / closing chuck of this embodiment is assembled to a chuck body 1 and operates by supplying / discharging compressed air, and by operating the cylinder mechanism. Two holding members 5 and 5 that perform opening and closing operations are provided.
The cylinder mechanism includes a cylinder hole 2 provided in the chuck body 1, a piston 3 driven in the axial direction in the cylinder hole 2, and one end side of the cylinder hole 2 at the upper end of the chuck body 1. And an end member 4 that closes fluid tightly.
[0008]
The piston 3 is provided with a rod 6 for operating the gripping members 5, 5, and by driving the piston 3 with air, the gripping member 5 is orthogonal to the axis of the rod 6 as will be described later. It opens and closes in the direction to do.
The chuck body 1 has compressed fluid supply / discharge ports 10 and 11 that are individually connected to the head side and the rod side of the piston 3, and these ports 10 and 11 are provided on the side surfaces of the chuck body. Is open.
Therefore, when compressed fluid is supplied to and discharged from the head side and the rod side of the piston 3 in the cylinder hole 2 through the ports 10 and 11, the piston 3 and the rod 6 are reciprocated in the cylinder hole 2.
[0009]
A recess 16 is formed in the lower part of the chuck body 1, and the tip of the rod 6 is led out and disposed in the recess 16, and the operation of the rod 6 is controlled by opening and closing the gripping members 5, 5. A pair of levers 12 and 12 for converting the operation are provided, and thereby the piston 3 is moved downward so that the holding members 5 and 5 can be opened.
[0010]
That is, the lever 12 is formed in an approximately L shape, and an intermediate portion thereof is rotatably supported by the chuck body 1 by the pin 21, and the tip of the rod 6 is inserted into a concave notch 12 a provided at the base end of the lever 12. The drive pin 6a is inserted and locked, and the tip 12b of the lever 12 engaged with the engagement hole 5a of the gripping member 5 is rotated by a certain angle by the upward or downward movement of the rod 6. Yes.
The lever 12 may be of various structures as long as the pair of gripping members 5 can be opened by the downward movement of the piston 3.
[0011]
Further, a guide block 13 is fixed to the lower end portion of the chuck body 1 so as to close the concave portion 16, and a concave groove 14 is provided on the lower surface of the guide block 13 along the sliding direction of the gripping members 5, 5. The holding members 5 and 5 are linearly slidably held by the rolling member between the inner side surfaces of the concave groove 14. The lever 12 has a distal end portion 12 b led out downward from a guide hole 13 a formed in the concave groove 14 in the guide block 13, and is engaged with the gripping members 5, 5 slidable in the concave groove 14. The hole 5a is engaged.
[0012]
The cylinder mechanism is provided with adjusting means 7 that limits the lower end of the piston 3 to adjust the stroke length and limit the opening width of the gripping members 5 and 5.
The adjusting means 7 is larger than the screw rod 8 attached to the tip of the screw rod 8 and the screw rod 8 that is screwed into the screw hole drilled in the end member 4 to reach the piston 3. A stopper member 9 having a diameter and a hollow portion 3a formed on the piston 3 and slidably receiving the stopper member 9 by a predetermined length in the axial direction. The stopper member 9 is locked in the hollow portion 3a. As a result, the downward movement of the piston 3 can be restricted.
In the case of this embodiment, as shown in the right half of FIG. 1, when the screw rod 8 is pulled up to the maximum, the opening width of the gripping members 5 and 5 is set to the minimum, while as shown in the left half When the screw rod 8 is pulled down to the maximum, the opening width of the gripping members 5 and 5 is set to the maximum.
[0013]
The screw rod 8 is formed in a rod shape as a whole, and is provided with a screw thread over the entire circumference, and is screwed in the axial direction of the screw rod 8 by inserting and rotating a tool in a hole provided in the upper end surface portion. It can be done.
The hollow portion 3a is provided so as to open to the head side of the piston 3, has a depth corresponding to the length of sliding of the stopper member 9, and is inwardly directed to the inner peripheral edge of the opening. The protrusion 3b is formed integrally with the piston 3, and the stopper member 9 can be locked by contacting the stopper 3 with the protrusion 3a.
[0014]
In the adjustment means 7 of this embodiment, the sliding length of the stopper member 9 determines the stroke length of the piston 3, so that the stroke length of the piston 3 substantially depends on the depth of the hollow portion 3a. It is possible to limit not only the opening width of the gripping members 5 and 5 but also the closing width.
[0015]
The screw rod 8 on the outer side of the end member 4 is fitted with an annular fastener seal 20 as a whole in order to fluid-tightly seal between the screw rod 8 and the end member 4. 24 is fixed by pressing.
The fastener seal 20 includes a metal retainer 22 formed in an annular shape, and a rubber member 23 attached to the inner periphery of the retainer 22 and having a thickness larger than the retainer 22. Plural lip portions 23a are integrally provided.
When the fastener seal 20 is attached to the thread of the screw rod 8, the rubber member 23 and the lip portion 23a are deformed and brought into close contact with the shape of the thread groove portion of the screw rod 8, and from the retainer of the rubber member. When the protruding portion is pressed against the end member 4 by the fixing nut 24, the gap between the screw rod 8 and the end member 4 is fluid-tightly sealed, and even if the screw rod 8 is screwed to some extent, the rubber member 23 and the lip portion 23a follow the movement and closely adhere to the screw groove, and the space between the screw rod 8 and the end member 4 can be reliably sealed.
[0016]
A cap 15 is attached to the upper surface side of the end member 4 so as to enclose the fastener seal 20, the fixing nut 24 and the lead-out portion of the screw rod 8. And in this cap 15 and the said recessed part 16, it is the discharge | emission which discharges the abrasion powder which generate | occur | produced by the end member 4 and the chuck body 1 by the screwing of the screw rod 8, or operation | movement of the holding member 5, the rod 6, etc. Roads 17 and 18 are provided to suppress contamination of the surrounding environment when the air chuck is used in a clean room or the like. These discharge paths 17 and 18 are disposed so as to avoid interference with the ports 10 and 11 provided in the chuck body 1 and communicate with a discharge port 19 provided on the lower side of the chuck body 1.
[0017]
The open / close chuck having the above configuration supplies a compressed fluid to the head side of the cylinder hole 2 of the chuck body 1 and drives the rod 6 by moving the piston 3 downward by air drive. The gripping members 5 and 5 are driven to open and perform a gripping operation.
In this gripping operation, the adjusting means 7 provided in the cylinder mechanism adjusts the stroke length of the piston 3 to limit the lower moving end, that is, the screw rod 8 is screwed and the tip of the screw rod 8 is screwed. By setting the locking position between the stopper member 9 and the protrusion 3b at the opening periphery of the hollow portion 3a of the piston 3, the opening width of the gripping members 5 and 5 can be limited. By setting the opening width of the gripping members 5 and 5 according to the size, the movement distance is shortened, and the pressure fluid and operation time from the gripping position to the open state and from the open state to the gripping are minimized. It is possible to limit to the limit.
In addition, since the grip members 5 and 5 do not open more than necessary due to the setting of the opening width, it is easy to avoid interference with adjacent devices when the grip members 5 and 5 are gripped. As a result, a stable gripping operation can be performed without touching or scratching the surrounding objects.
[0018]
Further, the adjusting means 7 is not so complicated as compared with the conventional chuck, and the opening width of the gripping members 5 and 5 can be easily set only by screwing the screw rod 8. The change is also easy.
[0019]
In the above embodiment, the driving of the cylinder mechanism is converted into the opening / closing operation of the gripping members 5, 5 by the pair of levers 12, 12. Any configuration can be selected as long as the operation can be converted into an opening / closing operation.
[0020]
【The invention's effect】
As described in detail above, according to the opening / closing chuck of the present invention, during this gripping operation, the stroke length of the piston is adjusted by the adjusting means provided in the cylinder mechanism to limit the opening width of the gripping member. Therefore, the opening width of the gripping member can be set according to the size of the object, and the pressure fluid and operation time from the gripping position to the open state and from the open state to the gripping can be minimized. . In addition, since the gripping member does not open more than necessary due to the setting of the opening width, it is easy to avoid interference with the adjacent device during gripping operation. A stable gripping operation can be performed without touching or scratching.
[Brief description of the drawings]
FIG. 1 is a longitudinal front view showing an embodiment of an open / close chuck of the present invention. However, the right half shows the case where the opening width of the gripping member is set to the minimum, and the left half shows the case where the opening width is set to the maximum.
FIG. 2 is a side view of the embodiment of FIG.
FIG. 3 is a perspective view showing a fastener seal.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Chuck body 2 Cylinder hole 3 Piston 3a Hollow part 4 End member 5 Gripping member 7 Adjustment means 8 Screw rod 9 Stopper member

Claims (3)

A cylinder mechanism having a cylinder hole provided inside the chuck body and a piston that is driven in the axial direction in the cylinder hole, and a plurality of gripping members that are assembled to the chuck body and open and close by the operation of the cylinder mechanism And
The cylinder mechanism, e Bei adjusting means for restricting the opening when the width of the gripping member by adjusting the stroke length of the piston,
A cap is attached to the lead-out portion of the adjustment member in the end member, and a lever for converting the rod operation into the opening / closing operation of the gripping member is disposed in the recess of the chuck body. The guide block is closed except for the guide hole through which the part is led out, and a discharge path for discharging generated dust is provided in the cap and in the recess of the chuck body.
An opening and closing chuck characterized by that.   2. The opening / closing chuck according to claim 1, further comprising an opening / closing mechanism that causes the gripping member to open by a downward movement of the piston between the gripping member and the piston. It has a configuration that is limited to variable.   3. The open / close chuck according to claim 2, wherein the adjusting means is attached to an end member that fluidly closes one end of the cylinder hole so as to be adjusted and screwed to reach the piston, and to the tip of the screw rod. And a hollow portion that is formed in the piston and accommodates the stopper member so as to be slidable by a certain length in the axial direction, and the stopper member is engaged with the piston in the hollow portion, thereby the piston. Restricting the downward movement of

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